CN106078033A - A kind of six-axle five-linkage welder - Google Patents
A kind of six-axle five-linkage welder Download PDFInfo
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- CN106078033A CN106078033A CN201610644063.XA CN201610644063A CN106078033A CN 106078033 A CN106078033 A CN 106078033A CN 201610644063 A CN201610644063 A CN 201610644063A CN 106078033 A CN106078033 A CN 106078033A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The six-axle five-linkage welder of the present invention, including chassis, X-axis motion, Y-axis motion, Z axis motion, R shaft movement mechanism, W shaft movement mechanism, V shaft movement mechanism and workpiece clamping mechanism, by Y-axis crossbeam moving along X-axis crossbeam direction, Z axis vertical beam moving and the elevating movement of Z axis vertical beam in the Y-axis direction, it is achieved that welding gun is along the three-dimensional motion of X-axis, Y-axis and Y-axis.Driving by R spindle motor, it is achieved that the rotation of welding gun.By ordering about of W spindle motor, it is achieved that the rotary motion of workpiece, by the handwheel regulation to worm reduction gear, workpiece can be ordered about and carry out elevating movement.So, manually regulate on rotary flange after the luffing angle of workpiece by handwheel, by X-axis, Y-axis, Z axis, R axle and the coordinated signals of W axle, it is achieved five-axle linkage, can be on workpiece to be welded " fillet welding in the flat position " of the standard of welding out, it is ensured that the weld strength of weld.
Description
Technical field
The present invention relates to a kind of six-axle five-linkage welder, in particular, particularly relate to a kind of can be in the weldering of workpiece
Sew on the six-axle five-linkage welder welding out " fillet welding in the flat position ".
Background technology
Welding is one of basic production means of machine building industry, improve the stability of welding quality and reliability be to
Close important.Reason based on current China economic and technical, present welding production operation is basic or hand-manipulated, uses
Manual operations, welding job amount is big, and welding production efficiency is low, and workpiece quality fluctuation is big；And work under bad environment, labor condition
Difference, labor intensity is high.The electric arc produced in welding process, noise, and flue dust, directly harm workman's is healthy.Especially
Being in recent years, China's demographic dividend fades away, and skilled industrial worker huge tomography occurs and generally there is young workman's technology skill
Can be low, it is difficult to management, and inside industrial undertaking, carry out the management philosophy of Health security system energetically, improve the weldering of workman
T-Ring border, improves quality and the efficiency of welding job, reduces energy consumption the most urgent.
Use automatic welding technique, be the unique channel changing above-mentioned condition, outside industrial robot is as human body
Prolonging, he can be greatly improved the operating environment quality of direct labor, and can be greatly enhanced the quality of production and production efficiency, is
Replace the optimal automation tools being manually subjected to.But simultaneously we it should also be recognized that, at present, the industry water of China
Horizontal knowledge structure flat, operator are limited, can't grasp programming and the operation skill of complexity.If can there be one certainly
Dynamic welder, and disclosure satisfy that the comprehensive welding of great majority welding workpiece, huge economic and social benefit will be brought.
Summary of the invention
The present invention is for the shortcoming overcoming above-mentioned technical problem, it is provided that a kind of six-axle five-linkage welder.
The six-axle five-linkage welder of the present invention, including chassis, X-axis motion, Y-axis motion, Z axis fitness machine
Structure, R shaft movement mechanism, W shaft movement mechanism, V shaft movement mechanism and workpiece clamping mechanism；It is characterized in that: described X-axis is moved
Mechanism is made up of X-axis crossbeam, X-axis motor and X-axis slide attachment plate, and X-axis crossbeam is arranged on chassis, and in X-axis, interval is fixed with
The two X-axis guide rails being parallel to each other, X-axis slide attachment plate is arranged on two X-axis guide rails, and X-axis motor orders about X-axis by X-axis leading screw
Slide attachment plate moves along X-axis guide rail；Described Y-axis motion is made up of Y-axis crossbeam, y-axis motor and Y-axis slide attachment plate, Y
Axle crossbeam is fixed on X-axis slide attachment plate, and Y-axis crossbeam is fixed with the two Y-axis guide rails being parallel to each other, Y-axis slide attachment plate
Being arranged on two Y-axis guide rails, y-axis motor orders about Y-axis connecting plate by Y-axis leading screw and moves along Y-axis guide rail；
Described Z axis motion is made up of Z axis vertical beam, Z axis motor and Z axis leading screw, and Z axis motor is fixed on Z axis vertical beam, Z axis
Leading screw is fixed on the outfan of Z axis motor, and Y-axis slide attachment plate is fixed with the ball nut matched with Z axis leading screw；Described
R shaft movement mechanism is made up of R spindle motor and the rotary shaft being arranged on Z axis vertical beam, and R spindle motor is fixed on Z axis vertical beam, is used for
Ordering about rotary shaft to rotate, the lower end of rotary shaft is provided with the holder for welding gun that Butt welding gun accommodates；
Described W shaft movement mechanism is made up of base, rotating disk seat, rotary flange and W spindle motor, and base is fixed on chassis, rotation
Turned flange is for accommodating workpiece to be welded, and W spindle motor is fixed on rotating disk seat, and rotary flange is fixed on W axle electricity
On the output shaft of machine；Described V shaft movement mechanism is made up of to axle, V spindle motor, worm speed reducer and handwheel V, the one of rotating disk seat
End is arranged on base to axle by V, and the other end is connected with the output shaft of worm speed reducer, and handwheel, V spindle motor may be contained within
On worm speed reducer, rotating disk seat can be ordered about around V to axle rotary motion by rotating handwheel.
The six-axle five-linkage welder of the present invention, described X-axis crossbeam and Y-axis beam vertical, Z axis vertical beam and X-axis crossbeam
With Y-axis crossbeam determined by plane vertical；V is to axle with Y-axis crossbeam in the same direction.
The six-axle five-linkage welder of the present invention, described workpiece clamping mechanism by clamp frame, advance and retreat motor, worm screw and
Guide holder forms, and fixing two tracks guiding clamping frame on chassis, in clamping frame, the side towards rotary flange is fixed
There is a scroll chuck, clamping frame is fixed with and orders about scroll chuck workpiece is carried out the air clamper of clamping；The one of worm screw
End is fixed on clamp system, and the output of advance and retreat motor is ordered about worm screw through worm speed reducer and seesawed.
The six-axle five-linkage welder of the present invention, the two ends of described X-axis crossbeam all support seat by lifting and are fixed on the end
On dish, the middle part of X-axis crossbeam is fixed on chassis by lifting regulating mechanism, lifting regulating mechanism is provided with regulation X-axis horizontal
The handwheel of depth of beam.
The invention has the beneficial effects as follows: the six-axle five-linkage welder of the present invention, by Y-axis crossbeam along X-axis crossbeam side
The motion in the Y-axis direction of motion upwards, Z axis vertical beam and the elevating movement of Z axis vertical beam, it is achieved that welding gun is along X-axis, Y-axis
Three-dimensional motion with Y-axis.The rotation of rotary shaft is ordered about, it is achieved that welding gun rotary motion in horizontal plane by R spindle motor.Logical
Cross ordering about of W spindle motor, it is achieved that accommodate the rotary motion of workpiece to be welded on rotary flange, by handwheel to worm gear reducer
The regulation of machine, can order about the workpiece being fixed on rotary flange and carry out elevating movement.So, rotation is manually regulated by handwheel
On flange after the luffing angle of workpiece, by X-axis, Y-axis, Z axis, R axle and the coordinated signals of W axle, it is achieved five-axle linkage, can be
On workpiece to be welded " fillet welding in the flat position " of the standard of welding out, it is ensured that the weld strength of weld.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the six-axle five-linkage welder of the present invention；
Fig. 2 is the front view of the six-axle five-linkage welder of the present invention；
Fig. 3 is the top view of the six-axle five-linkage welder of the present invention；
Fig. 4 is the left view of the six-axle five-linkage welder of the present invention；
Fig. 5 is Z axis motion and the structure chart of R shaft movement mechanism in the present invention；
Fig. 6 is W shaft movement mechanism and the structure chart of V shaft movement mechanism in the present invention；
Fig. 7 is X-axis in the present invention, Y-axis, Z axis, R axle, W axle, the position view of Z axis motion.
In figure: 1 chassis, 2 X-axis crossbeams, 3 lifting support seats, 4 lifting regulating mechanisms, 5 X-axis guide rails, 6 X-axis leading screws, 7
X-axis motor, 8 X-axis slide attachment plate, 9 Y-axis crossbeams, 10 Y-axis guide rails, 11 y-axis motors, 12 Y-axis leading screws, 13 Y-axis slide blocks
Connecting plate, 14 Z axis vertical beams, 15 Z axis motors, 16 Z axis leading screws, 17 ball nuts, 18 rotary shafts, 19 R spindle motors, 20 actively
Belt wheel, 21 driven pulleys, 22 welding guns, 23 holder for welding guns, 24 bases, 25 V to axle, 26 rotating disk seats, 27 rotary flanges, 28
W spindle motor, 29 V spindle motors, 30 worm reduction gears, 31 handwheels, 32 clamping frames, 33 tracks, 34 scroll chucks, 35 pneumatic clamps
Tight device, 36 advance and retreat motors, 37 guide holders, 38 worm screws, 39 operating board.
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, sets forth the six-axle five-linkage welder of the present invention axonometric chart,
Front view, top view and left view, as it is shown in fig. 7, give X-axis in the present invention, Y-axis, Z axis, R axle, W axle, Z axis motion
Position view, shown six-axle five-linkage welder by chassis 1, X-axis motion, Y-axis motion structure, Z axis motion
Mechanism, R shaft movement mechanism, W shaft movement mechanism, V shaft movement mechanism and workpiece accommodate mechanism's composition.Shown X-axis fitness machine
Structure is made up of X-axis crossbeam 2, two X-axis guide rail 5, X-axis leading screw 6, X-axis motor 7 and X-axis slide attachment plate 8, the two ends of X-axis crossbeam 2
All supporting seat 3 by lifting to be fixed on chassis 1, the middle part of X-axis crossbeam 2 is arranged at is fixed on the One On The Chassis lift adjustment machine
Structure 4, lifting regulating mechanism 4 is provided with handwheel, by the height of rotation hand wheel scalable X-axis crossbeam 2, so that whole welding dress
Put and be suitable to weld various sizes of workpiece.
Two X-axis guide rails 5 are arranged on the upper surface of X-axis crossbeam 2 abreast, and X-axis slide attachment plate 8 is arranged at two X-axis and leads
On rail 5.X-axis motor 7 is arranged at one end of X-axis crossbeam 2, and X-axis leading screw 6 is fixed on the outfan of X-axis motor 7, and X-axis slide block connects
The ball nut matched with X-axis leading screw 6 it is fixed with on plate 13.By the driving of X-axis motor, X-axis slide attachment plate can be ordered about
13 move along the direction at X-axis guide rail 5 place.
Shown Y-axis motion is by Y-axis crossbeam 9, two Y-axis guide rail 10, y-axis motor 11, Y-axis leading screw 12 and Y-axis slide block
Connecting plate 13 forms, and Y-axis crossbeam 9 is fixed on X-axis slide attachment plate 8, so that Y-axis crossbeam 9 moves with X-axis slide attachment plate 8.
Two Y-axis guide rails 10 are arranged on the medial surface of Y-axis crossbeam 9, and Y-axis slide attachment plate 13 is arranged on two Y-axis guide rails 10；Y-axis electricity
Machine 7 is fixed on one end of Y-axis crossbeam 9, and Y-axis leading screw 12 is fixed on the outfan of y-axis motor, fixing on Y-axis slide attachment plate 13
There is the ball nut 17 matched with Y-axis leading screw 12, in order under the driving of y-axis motor 7 so that Y-axis slide attachment plate 13 is along Y
Move in axis rail 10 direction.
As it is shown in figure 5, give Z axis motion and the structure chart of R shaft movement mechanism in the present invention, shown Z axis fortune
Motivation structure is made up of Z axis vertical beam 14, Z axis motor 15, Z axis leading screw 16, and Z axis motor 15 is fixed on Z axis vertical beam 14, Z axis leading screw
16 outfans being fixed on Z axis motor 15, Y-axis slide attachment plate 8 is fixed with the ball nut matched with Z axis leading screw 16
17, in order under the driving effect of Z axis motor 15, Z axis vertical beam 14 elevating movement on Y-axis slide attachment plate 8 can be ordered about.
Shown R shaft movement mechanism is made up of R spindle motor 19, rotary shaft 18, and shown rotary shaft 18 is rotatably arranged in Z
On axle vertical beam 14, the cavity that the inside of rotary shaft 18 is passed through for ease of cable.The lower end of rotary shaft 18 is provided with holder for welding gun
23, in order to Butt welding gun 22 is fixed blessing.R spindle motor 19 is fixed on Z axis vertical beam 14, solid on the output shaft of R spindle motor 19
Surely having driving pulley 20, rotary shaft 18 is fixed with driven pulley 21, driving pulley 20 passes through belt transmission with driven pulley 21,
So that under the induced effect of R spindle motor 19, order about rotary shaft 18 and rotate, and then drive the welding gun of lower end to rotate, can be in level
In face change welding gun towards.
As shown in Figure 6, give in the present invention W shaft movement mechanism and the structure chart of V shaft movement mechanism in the present invention, shown
W shaft movement mechanism be made up of base 24, rotating disk seat 26, rotary flange 27, W spindle motor 28, base 24 is fixed on chassis 1
On, it is achieved to W shaft movement mechanism and the supporting role of V shaft movement mechanism.W spindle motor 28 is fixed on rotating disk seat 26, rotates
Flange 27 is fixed on the output shaft of W spindle motor 28, and rotary flange 27 is for accommodating workpiece to be welded.At W axle electricity
Under the driving effect of machine 28, it is achieved that the rotary motion of workpiece.
Shown V axle drive mechanism is made up of to axle 25, V spindle motor 29, worm speed reducer 30 and handwheel 31 V, and turbine subtracts
Speed machine 30 is fixed on base 24, and the side of rotating disk seat 26 is rotatably arranged on base 24 to axle 25 by V, opposite side with
The output shaft of worm speed reducer 30 fixes, and in order to ensure the normal rotation of rotating disk seat 26, should ensure that worm speed reducer 30
Output shaft is with V to axle 25 on the same line.Handwheel 31 and V spindle motor 29 may be contained within worm speed reducer 30, by rotating
Ordering about the handwheel 31 on worm speed reducer 30, the luffing angle of workpiece on scalable rotary flange 27, V spindle motor 29 is used for feeding back
The angle of pitch angle value of rotating disk seat 26.
Shown workpiece clamping mechanism is by clamping frame 32, two track 33, scroll chuck 34, air clamper 35, entering
Move back motor 36, guide holder 37, worm screw 38 form, and two shown tracks 33 are fixed on chassis 1, and clamp system 32 is arranged at two places
On rail 33.Scroll chuck 34 is fixed on the side in clamping frame 32 towards rotary flange 27, in order to realize treating welding workpiece
Good fixing, scroll chuck 34 and rotary flange 27 should be made to be on same straight line.Shown air clamper 35 sets
It is placed in clamping frame 32, is used for ordering about scroll chuck 34 by workpiece clamping.
Shown advance and retreat motor 36 is fixed on chassis 1, and the front end of worm screw 38 fixes with clamping frame 32, guide holder 37
Being fixed on chassis 1, worm screw 38 is arranged through guide holder 37, to realize guiding.Advance and retreat motor 36 is driven by worm speed reducer
Worm screw 38 is made to move, to order about scroll chuck 34 closer or far from rotary flange 27, to accommodate various sizes of workpiece.
Workpiece is being carried out in welding process, first workpiece is being accommodated between scroll chuck 34 and rotary flange 27, then
By the handwheel 31 on revolving wormgear reductor 30, the luffing angle of workpiece is adjusted to correct position；Then, by X-axis
Motor 7, y-axis motor 11, the control of Z axis motor, can order about welding gun 22 along X-axis crossbeam 2, Y-axis crossbeam 9 and Z axis vertical beam 14 direction
Motion, it is achieved that welding gun three-dimensional motion in X-axis, Y-axis, Z-direction.By the driving of R spindle motor 19, welding gun can be controlled
Towards；By the driving of W spindle motor 28, workpiece can be made to be rotated.So, X-axis, Y-axis, Z axis, R axle it are achieved that
With the linkage of W axle, it is not only adapted to weld the weld seam that curve moves towards complicated, but also can be respectively formed in welded joints " fillet welding in the flat position ", protect
Demonstrate,prove the weld strength of commissure.
Claims (4)
1. a six-axle five-linkage welder, including chassis (1), X-axis motion, Y-axis motion, Z axis motion,
R shaft movement mechanism, W shaft movement mechanism, V shaft movement mechanism and workpiece clamping mechanism；It is characterized in that: described X-axis fitness machine
Structure is made up of X-axis crossbeam (2), X-axis motor (7) and X-axis slide attachment plate (8), and X-axis crossbeam is arranged on chassis, and X-axis is spaced
Being fixed with the two X-axis guide rails (5) being parallel to each other, X-axis slide attachment plate is arranged on two X-axis guide rails, and X-axis motor passes through X-axis silk
Thick stick (6) orders about X-axis slide attachment plate and moves along X-axis guide rail；Described Y-axis motion by Y-axis crossbeam (9), y-axis motor (11) and
Y-axis slide attachment plate (13) forms, and Y-axis crossbeam is fixed on X-axis slide attachment plate, Y-axis crossbeam is fixed with two and is parallel to each other
Y-axis guide rail (10), Y-axis slide attachment plate is arranged on two Y-axis guide rails, and y-axis motor orders about Y-axis even by Y-axis leading screw (12)
Fishplate bar moves along Y-axis guide rail；
Described Z axis motion is made up of Z axis vertical beam (14), Z axis motor (15) and Z axis leading screw (16), and Z axis motor is fixed on Z
On axle vertical beam, Z axis leading screw is fixed on the outfan of Z axis motor, Y-axis slide attachment plate is fixed with and matches with Z axis leading screw
Ball nut (17)；Described R shaft movement mechanism is made up of R spindle motor (19) and the rotary shaft (18) being arranged on Z axis vertical beam, R
Spindle motor is fixed on Z axis vertical beam, is used for ordering about rotary shaft and rotates, and the lower end of rotary shaft is provided with the weldering that Butt welding gun (22) accommodates
Rifle clamper (23)；
Described W shaft movement mechanism is made up of base (24), rotating disk seat (26), rotary flange (27) and W spindle motor (28), base
Being fixed on chassis, rotary flange is for accommodating workpiece to be welded, and W spindle motor is fixed on rotating disk seat, rotates
Flange is fixed on the output shaft of W spindle motor；Described V shaft movement mechanism by V to axle (25), V spindle motor (29), worm speed reducer
(30) forming with handwheel (31), one end of rotating disk seat is arranged on base to axle by V, and the other end is defeated with worm speed reducer
Shaft is connected, and handwheel, V spindle motor may be contained within worm speed reducer, can order about rotating disk seat around V to axle by rotating handwheel
Rotary motion.
Six-axle five-linkage welder the most according to claim 1, it is characterised in that: described X-axis crossbeam (2) is horizontal with Y-axis
Beam (9) is vertical, and plane determined by Z axis vertical beam (14) and X-axis crossbeam and Y-axis crossbeam is vertical；V is same with Y-axis crossbeam to axle (25)
To.
Six-axle five-linkage welder the most according to claim 1 and 2, it is characterised in that: described workpiece clamping mechanism by
Clamping frame (32), advance and retreat motor (36), worm screw (38) and guide holder (37) composition, clamping frame is led by chassis (1) upper fixing
To two tracks (33), clamping frame is fixed with scroll chuck (34) towards the side of rotary flange (27), in clamping frame
It is fixed with and orders about scroll chuck workpiece is carried out the air clamper (35) of clamping；Clamp system is fixed in one end of worm screw
On, the output of advance and retreat motor is ordered about worm screw through worm speed reducer and is seesawed.
Six-axle five-linkage welder the most according to claim 1 and 2, it is characterised in that: the two of described X-axis crossbeam (2)
End all supports seat (3) by lifting and is fixed on chassis (1), and the end is fixed on by lifting regulating mechanism (4) in the middle part of X-axis crossbeam
On dish, lifting regulating mechanism is provided with the handwheel of regulation X-axis beam height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610644063.XA CN106078033A (en) | 2016-08-09 | 2016-08-09 | A kind of six-axle five-linkage welder |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610644063.XA CN106078033A (en) | 2016-08-09 | 2016-08-09 | A kind of six-axle five-linkage welder |
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Effective date of registration: 20161205 Address after: 250014 Ji'nan Province, Shandong Province, Lixia District, Department of road, No. 19, Shandong Computing Center Applicant after: SHANDONG COMPUTER SCIENCE CENTER Address before: 250014 Ji'nan Province, Shandong Province, Lixia District, Department of road, No. 19, Shandong Computing Center Applicant before: SHANDONG COMPUTER SCIENCE CENTER Applicant before: Wang Maoli |
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